Raj Patel / Mbed 2 deprecated RoboticMappingControl

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Dependencies:   mbed mbed-rtos Motor LSM9DS1_Library_cal X_NUCLEO_53L0A1

Diff: RobotController.cpp

Revision:
18:7ed985584ec7
Parent:
17:e1a5d25218de
Child:
19:41d0cc14edc5
--- a/RobotController.cpp	Thu Apr 25 05:56:18 2019 +0000
+++ b/RobotController.cpp	Thu Apr 25 16:54:57 2019 +0000
@@ -35,7 +35,8 @@
         while((_leftEncoder.read() < 1) && (_rightEncoder.read() < 1));
         leftWheel.speed(0);
         rightWheel.speed(0);
-        obstacles[i] = (int)(lidarDistance*MMTOIN);
+        obstacles[i] = (int)(lidarDistance / 10);
+        pc.printf("Index %d, %d\n", i, lidarDistance);
     }
     led = 0;
 }
@@ -62,7 +63,7 @@
         t.start();
         leftWheel.speed(0.2);
         rightWheel.speed(-0.2);
-        while(yaw < angle) {
+        while(yaw > -angle) {
             yaw = yaw + (((w2+w1)/2.0)*(t2-t1));
             while(!imu.gyroAvailable());
             imu.readGyro();
@@ -77,7 +78,7 @@
         useImu = false;
         _leftEncoder.reset();
         _rightEncoder.reset();
-        int distance = (int)(trajectory[i + 1]*COUNTPERIN);
+        int distance = (int)(trajectory[i + 1]*COUNTPERCM);
         leftWheel.speed(0.2);
         rightWheel.speed(0.2);
         while((_leftEncoder.read() < distance) && (_rightEncoder.read() < distance));